Method of operating a robot and apparatus comprising a robot

Abstract

A robot includes a kinematic mechanism and an end effector coupled to the kinematic mechanism for transferring products, in particular food products. The end effector is automatically cleaned on the satisfaction of a cleaning criterion.

1 . A method of operating a robot ( 10 ) which includes a kinematic mechanism ( 14 ) and an end effector ( 16 ) coupled to the kinematic mechanism ( 14 ) for transferring products ( 21 ), in particular food products,
 characterized in that   the end effector ( 16 ) is automatically cleaned on the satisfaction of a cleaning criterion.   
     
     
         2 . A method in accordance with  claim 1 ,
 characterized in that   the end effector ( 16 ) to be cleaned is automatically moved into the region of action of a cleaning device ( 34 ) and is cleaned by it.   
     
     
         3 . A method in accordance with  claim 1 ,
 characterized in that   the end effector ( 16 ) to be cleaned is decoupled from the kinematic mechanism ( 14 ) before its cleaning.   
     
     
         4 . A method in accordance with  claim 3 ,
 characterized in that   a replacement end effector ( 40 ) is coupled to the kinematic mechanism ( 14 ) after the decoupling of the end effector ( 16 ) to be cleaned and the transfer of products ( 21 ) is continued during the cleaning.   
     
     
         5 . A method in accordance with  claim 4 ,
 characterized in that   a previously cleaned end effector is coupled to the kinematic mechanism ( 14 ) as the replacement end effector ( 40 )   
     
     
         6 . A method in accordance with  claim 4 ,
 characterized in that   the decoupling of the end effector ( 16 ) from the kinematic mechanism ( 14 ) or the coupling of the replacement end effector ( 40 ) to the kinematic mechanism ( 14 ) takes place in the cleaning device ( 34 ,  36 ).   
     
     
         7 . A method in accordance with  claim 1 ,
 characterized in that   the automatic cleaning takes place at predetermined, in particular regular, time intervals.   
     
     
         8 . A method in accordance with  claim 1 ,
 characterized in that   the automatic cleaning takes place after a predetermined number of transfer procedures.   
     
     
         9 . A product transfer apparatus, comprising a robot ( 10 ) which includes a kinematic mechanism ( 14 ) and an end effector ( 16 ) coupled to the kinematic mechanism ( 14 ) for transferring products ( 21 ), in particular food products, and comprising a cleaning device ( 34 ) for the automatic cleaning of the end effector ( 16 ) on the satisfaction of a cleaning criterion. 
     
     
         10 . An apparatus in accordance with  claim 9 ,
 characterized in that   the cleaning device ( 34 ) is arranged within a region of action ( 32 ) of the robot ( 10 ).   
     
     
         11 . An apparatus in accordance with  claim 9 ,
 characterized in that   a clean replacement end effector ( 40 ) is present in the cleaning device ( 36 ) which can be coupled to the kinematic mechanism ( 14 ) instead of the end effector ( 16 ) to be cleaned.